Research On The Key Technology Of Multi Degree Of Freedom Active Compensation Method For Offshore Hoisting

Offshore hoisting is a common operation method in the current offshore working process.During the marine hoisting and replenishment operation,due to the effects of sea breeze and waves,the ship will produce a multi-degree-of-freedom attitude movement,which seriously affects the normal operation process and poses a great threat to the safety of cargo and personnel.Therefore,a lifting method with active compensation function is needed to improve the safety of offshore lifting.In order to realize the safe operation of offshore hoisting work,this paper studies the use of multi-degree of freedom active compensation for offshore hoisting.The main contents of this article are as follows:(1)This paper studies the overall scheme of offshore hoisting with multi-degree of freedom active compensation method.The scheme mainly includes the overall structural scheme,the scheme of active compensation and the principle and process of active compensation hoisting.These schemes provide reference for simulation and experiment.We have designed an auxiliary trestle bridge system with multi-degrees of freedom for active compensation at sea.(2)In this paper,the conventional PID algorithm and PID based on BP neural network are theoretically analyzed and compared.At the same time,the author uses the Simulink toolbox that comes with Matlab to establish a single-channel simulation control model,and performs simulation experiments on these two algorithms in this model.By comparing two different control algorithms,this paper draws the gap between conventional PID and PID based on BP neural network in terms of effectiveness and accuracy.The analysis of the simulation results provides a reference for the experiment.(3)This paper designs a set of experimental system using multi-degree of freedom active compensation method for offshore hoisting.This article chooses the corresponding equipment according to the already determined plan,builds the experiment system of this article.The composition of the test system mainly includes multi-degree-of-freedom active compensation structure,three-degree-of-freedom wave simulation platform,MRU-3 sensor,motion controller and other related equipment.We have built an auxiliary trestle bridge system with multi-degrees of freedom for active compensation at sea.(4)In this paper,an experimental study on the multi-degree-of-freedom active compensation method is carried out,and the software development of the control system is completed.Through the analysis of the experimental results,this paper obtains the feasibility of the control system.At the same time,through experimental comparison,this paper concludes that conventional PID and PID based on BP neural network have certain differences in response characteristics and compensation accuracy.The feasibility of multi-degree-of-freedom active compensating auxiliary trestle bridge system for offshore hoisting was verified through experiments.The simulation and experimental results show that the multi-degree of freedom active compensation method designed in this paper has the effect of active compensation.The combination of the algorithm proposed in this paper and this experimental program has shown ideal results.The algorithm can improve certain control capabilities.The multi-degree-of-freedom active compensation auxiliary trestle for offshore hoisting has effective compensation effect.